Scribd
Upload
150 views8 pages

E24

This document provides three examples of designing compensators for control systems to meet stability criteria. Example 1 calculates the gain K and phase and gain margins for a system. Example 2 designs a lead compensator to achieve a phase margin greater than 40 degrees. Example 3 designs a lag compensator such that the phase margin is approximately 40 degrees and steady state velocity error is 10 sec-1. Recommended reading and homework problems are also provided.

Uploaded by

ROHITCHOURASIYA
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
150 views8 pages

E24

This document provides three examples of designing compensators for control systems to meet stability criteria. Example 1 calculates the gain K and phase and gain margins for a system. Example 2 designs a lead compensator to achieve a phase margin greater than 40 degrees. Example 3 designs a lag compensator such that the phase margin is approximately 40 degrees and steady state velocity error is 10 sec-1. Recommended reading and homework problems are also provided.

Uploaded by

ROHITCHOURASIYA
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 8

MEEN 364 Lecture 23, 24

Parasuram April 1, 2003

HANDOUT E.24 - EXAMPLE HANDOUT ON STABILITY MARGINS AND COMPENSATION


Example 1: Consider the system, whose open-loop transfer function is given by G ( s) = K . s (0.2 s + 1)(0.05s + 1)

Determine the value of K for a phase margin of 40. For the value of K computed, determine the gain margin. Sol: The phase margin relation is given by
PM = G ( j ) + 180, 0.2 0.05 tan 1 + 180, 1 1 tan 1 0.2 + tan 1 0.05 = 50, 40 = 90 tan 1 0.25 = 50, tan 1 1 0.01 2 = 4 rad / sec

At this frequency, the magnitude must be equal to 1. Hence

G ( j )

=4

= 1, K = 1,
=4

( 0.04 + 1)( 0.0025 + 1)


2 2

K = 5.2. To determine the gain margin, first compute the frequency where the phase is equal to -180 degrees. Therefore, we get
90 tan 1 0.2 tan 1 0.05 = 180, tan 1 0.2 + tan 1 0.05 = 90,

MEEN 364 Lecture 23, 24 0.25 = 90, tan 1 1 0.01 2 0.25 1 0.01 2 Therefore the denominator must be equal to zero. Hence

Parasuram April 1, 2003

1 0.01 2 = 0, 1 , 0.01 = 10. 2 = Substituting this value of frequency in the magnitude, we get
G ( j ) =

( 0.04 + 1)( 0.0025 + 1) 10( 5 )( 1.25 ) = 0.208.


2 2

5.2

Therefore the gain margin of the system is

GM = 0 20 log(0.208) = 13.64 dB.


Example 2:

Consider a type I unity feedback system with G ( s) = K . s ( s + 1)

Design a Lead compensator so that kv = 12 sec-1 and Pm > 40. Use MATLAB to verify that your design meets the specifications.
Sol:

The transfer function of the Lead Compensator is given by


D( s) = K1 Ts + 1 , where < 1. Ts + 1

For the design, consider K1 always with the plant, such that the plant transfer function reduces to KK 1 G ( s) = . s ( s + 1)

MEEN 364 Lecture 23, 24

Parasuram April 1, 2003

Step 1: For the given steady state error constant, obtain the value of the gain.

KK 1 = KK 1 = 12. s 0 s 0 ( s + 1) Therefore the plant transfer function reduces to k v = lim sG ( s ) = lim G ( s) = 12 . s ( s + 1) (1)

Step 2: Plot the Bode plot of the transfer function given by equation (1) and compute the phase margin of the uncompensated system.

The Bode plot of the above system with KK1 = 12 is given by following the sequence of MATLAB code given below.
s=tf('s'); sys = 12/(s*(s+1)); grid on; margin(sys)

The plot is given below.

MEEN 364 Lecture 23, 24

Parasuram April 1, 2003

Step 3: It can be seen that the phase margin of the uncompensated system is 16.4 degrees. The required phase margin should be greater than 40 degrees. Let us design for 42 degrees. Therefore the phase increase that is to be provided by the lead compensator is

= 42 16.4 + 7 = 32.6 33.

Note that 7 is used as a margin of safety. Put


1

max

and using the relation =

1 sin 1 + sin

max max

, obtain the value of .

Therefore,

1 sin(33) = 0.2948. 1 + sin(33)

Step 4: Using the value of calculated, compute the frequency where the magnitude is equal to 10log(1/).

1 G ( j ) = 10 log . 12 1 20 log = 10 log , 2 0.2948 +1


6.23.
Step 5: Choose the above frequency as the maximum frequency given by the relation

max =

Therefore

T= T=

max

, ,

(6.23)( 0.2948 ) T = 0.2956.

Therefore the Lead compensator is given by the transfer function,

D( s) =

(Ts + 1) (0.2956s + 1) = . ( Ts + 1) (0.0871s + 1)

MEEN 364 Lecture 23, 24

Parasuram April 1, 2003

(Note that K1 is not considered in this transfer function, as it had already been accounted for in the plant transfer function.) Plotting the Bode plot of the compensated system using the following sequence, we get
s=tf('s'); sys = 12/(s*(s+1)); comp = (0.2956*s+1)/(0.0871*s+1); grid on; margin(sys*comp)

From the bode plot it can be seen that the phase margin is 44.47 degrees. Hence the design specifications have been satisfied.

Example 3:

For the system with open-loop transfer function


K . s s s + 1 + 1 1.4 3 design a lag compensator such that the phase margin is approximately equal to 40 and the steady state velocity error constant is 10 sec-1. G ( s) =

MEEN 364 Lecture 23, 24


Sol:

Parasuram April 1, 2003

The transfer function of the Lag compensator is given by

D( s) =

Ts + 1 . Ts + 1

For the case of design, the gain is always considered with the plant transfer function so that the plant transfer function reduces to
G ( s) = K . s s s + 1 + 1 1.4 3

Step 1: For the given steady state error constant, obtain the value of K.
k v = lim sG ( s ) = lim
s 0

K = K = 10. s 0 s s + 1 + 1 1.4 3

Therefore the plant transfer function reduces to


G ( s) = 10 . s s s + 1 + 1 1.4 3

Step 2: Since the specified phase margin is 40 degrees, let us design the compensator such that the final phase margin of the system is 45 degrees, assuming a margin of safety of 5 degrees. Compute the frequency at which the Bode plot of the system gives a phase margin of 45 degrees. The bode plot is given below.

MEEN 364 Lecture 23, 24

Parasuram April 1, 2003

From the Bode plot, the frequency c2 at which the phase margin is 45 degrees is 0.807 rad/sec, i.e., c 2 = 0.807 rad/sec .
Step 3: Using the frequency computed, compute the magnitude of the system at that frequency and equate it to 20log(). Therefore

G ( j )

= 0.701

= 20 log( ),

= 10.35.
Step 4:

Choose, 1 c 2 0.807 = = = 0.0807, 10 10 T T = 12.39. Therefore the transfer function of the Lag compensator is given by D( s) = (12.39s + 1) . (128.253s + 1)

MEEN 364 Lecture 23, 24 The Bode plot of the compensated system is given below.

Parasuram April 1, 2003

From the above Bode plot, it can be seen that the phase margin of the above system is approximately equal to 39.66 degrees. Hence the design specifications are satisfied.
Recommended Reading

Feedback Control of Dynamic Systems Fourth Edition, by Gene F. Franklin et.al pp 417 442.
Recommended Assignment

Feedback Control of Dynamic Systems Fourth Edition, by Gene F. Franklin et.al problems 6.45, 6.48.

You might also like